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class=\"wp-block-paragraph\">\u5206\u5c42\u903b\u8f91\u4e0d\u4ec5\u9700\u8981\u8ba1\u7b97\u6bcf\u5c42\u5185\u90e8\u7684\u4e8c\u7ef4\u9635\u5217\uff0c\u8fd8\u9700\u7ba1\u7406<strong>\u5c42\u9ad8\uff08Z\u8f74\uff09\u7684\u7d2f\u52a0<\/strong>\u3002\u6bcf\u5b8c\u6210\u4e00\u5c42\uff0c\u57fa\u51c6\u9ad8\u5ea6\u9700\u8981\u589e\u52a0\u4e00\u4e2a\u7269\u6599\u9ad8\u5ea6\uff08\u53ef\u80fd\u5305\u542b\u538b\u7f1d\u6240\u9700\u7684\u504f\u79fb\uff09\u3002\u540c\u65f6\uff0c\u5c42\u4e0e\u5c42\u4e4b\u95f4\u7684\u579b\u578b\u53ef\u80fd\u91c7\u7528\u4ea4\u9519\u6392\u5217\u4ee5\u589e\u52a0\u7a33\u5b9a\u6027\uff0c\u8fd9\u8981\u6c42\u7a0b\u5e8f\u80fd\u6839\u636e\u5f53\u524d\u5c42\u53f7\u7684\u5947\u5076\u6027\uff0c\u52a8\u6001\u5207\u6362\u653e\u7f6e\u70b9\u7684\u8ba1\u7b97\u6a21\u578b\u3002\u901a\u8fc7\u5c06\u201c\u5c42\u201d\u4f5c\u4e3a\u4e00\u4e2a\u91cd\u8981\u7684\u5faa\u73af\u7ef4\u5ea6\uff0c\u4e0e\u201c\u884c\u201d\u3001\u201c\u5217\u201d\u5171\u540c\u6784\u6210\u4e09\u5c42\u5d4c\u5957\u5faa\u73af\uff0c\u5373\u53ef\u7cfb\u7edf\u6027\u5730\u6784\u5efa\u51fa\u6574\u4e2a\u579b\u4f53\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001 \u9879\u76ee\u5b9e\u6218\uff1a\u57fa\u4e8eRobotStudio\u7684\u865a\u62df\u8c03\u8bd5\u4e0e\u5b9e\u73b0<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\">\u7406\u8bba\u9700\u7ed3\u5408\u5b9e\u8df5\u65b9\u80fd\u5de9\u56fa\u3002\u6211\u4eec\u4ee5\u4e00\u4e2a\u57fa\u4e8eABB RobotStudio\u7684IRB120\u673a\u5668\u4eba\u642c\u8fd0\u7801\u579b\u865a\u62df\u5de5\u4f5c\u7ad9\u4e3a\u4f8b\uff0c\u5c55\u793a\u9635\u5217\u8ba1\u7b97\u4e0e\u5206\u5c42\u7f16\u7a0b\u7684\u7efc\u5408\u5e94\u7528\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.1 \u865a\u62df\u5de5\u4f5c\u7ad9\u642d\u5efa<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728RobotStudio\u4e2d\uff0c\u9996\u5148\u642d\u5efa\u5305\u542b\u673a\u5668\u4eba\u3001\u8f93\u9001\u94fe\u3001\u5438\u76d8\u5de5\u5177\u3001\u6258\u76d8\u548c\u7269\u6599\u6a21\u578b\u7684\u5de5\u4f5c\u7ad9\u3002\u521b\u5efa<strong>Smart\u7ec4\u4ef6<\/strong>\u6765\u6a21\u62df\u8f93\u9001\u7ebf\u7684\u542f\u505c\u3001\u7269\u6599\u7684\u751f\u6210\u4e0e\u6d88\u5931\uff0c\u4ee5\u53ca\u5438\u76d8\u7684\u5438\u53d6\/\u91ca\u653e\u52a8\u4f5c\uff0c\u5e76\u5efa\u7acb\u4e0e\u673a\u5668\u4ebaI\/O\u4fe1\u53f7\u7684\u903b\u8f91\u8fde\u63a5\u3002\u8fd9\u4e00\u6b65\u662f\u540e\u7eed\u79bb\u7ebf\u7f16\u7a0b\u548c\u4eff\u771f\u9a8c\u8bc1\u7684\u57fa\u7840\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">3.2 \u6838\u5fc3\u7b97\u6cd5\u5b9e\u73b0<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u4ee5\u5b9e\u73b0\u4e00\u4e2a\u201c\u6b63\u53cd\u4ea4\u66ff\u579b\u578b\u201d\u4e3a\u4f8b\uff0c\u5173\u952e\u6280\u5de7\u5728\u4e8e\u5efa\u7acb\u52a8\u6001\u5750\u6807\u7cfb\u548c\u8fd0\u7528\u7a7a\u95f4\u53d8\u6362\u3002<\/p>\n\n\n\n<ol start=\"1\" class=\"wp-block-list\">\n<li><strong>\u9635\u5217\u8ba1\u7b97<\/strong>\uff1a\u5728RAPID\u7a0b\u5e8f\u4e2d\uff0c\u5b9a\u4e49\u4e8c\u7ef4\u6570\u7ec4\u00a0<code>pallet_pos{3,4}<\/code>\u00a0\u6765\u5b58\u50a812\u4e2a\uff083\u884c4\u5217\uff09\u653e\u7f6e\u70b9\u3002\u901a\u8fc7\u57fa\u51c6\u70b9\u00a0<code>P_base<\/code>\uff0c\u4f7f\u7528\u00a0<code>Offs()<\/code>\u00a0\u51fd\u6570\u5728\u5faa\u73af\u4e2d\u8ba1\u7b97\u5e76\u586b\u5145\u6570\u7ec4\u3002rapid\u590d\u5236\u4e0b\u8f7dFOR i FROM 1 TO 3 DO FOR j FROM 1 TO 4 DO pallet_pos{i,j} := Offs(P_base, (j-1)*box_length, (i-1)*box_width, 0); ENDFOR 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class=\"wp-block-heading\">3.3 \u4eff\u771f\u4e0e\u8c03\u8bd5<\/h3>\n\n\n\n<p class=\"wp-block-paragraph\">\u5728RobotStudio\u7684\u865a\u62df\u63a7\u5236\u5668\u4e2d\u8fd0\u884c\u7a0b\u5e8f\uff0c\u53ef\u4ee5\u5b9e\u65f6\u89c2\u5bdf\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u8f68\u8ff9\u3001\u579b\u5f62\u6784\u5efa\u8fc7\u7a0b\u4ee5\u53ca\u4e0eSmart\u7ec4\u4ef6\u7684\u4ea4\u4e92\u3002\u901a\u8fc7\u4eff\u771f\uff0c\u53ef\u4ee5\u63d0\u524d\u53d1\u73b0\u548c\u89e3\u51b3\u8bf8\u5982\u5173\u8282\u8d85\u9650\u3001\u8f68\u8ff9\u78b0\u649e\u3001\u8ba1\u7b97\u903b\u8f91\u9519\u8bef\u7b49\u95ee\u9898\u3002\u4f8b\u5982\uff0c\u8c03\u8bd5\u8d77\u810a\u579b\u65f6\uff0c\u9700\u7528\u4e09\u89d2\u51fd\u6570\u52a8\u6001\u8ba1\u7b97\u6bcf\u5c42Z\u8f74\u7684\u62ac\u5347\u91cf\u548cX\u8f74\u7684\u504f\u79fb\u91cf\uff0c\u5e76\u6ce8\u610f\u5f27\u5ea6\u4e0e\u89d2\u5ea6\u7684\u6362\u7b97\uff0c\u5426\u5219\u53ef\u80fd\u5806\u51fa\u201c\u6bd4\u8428\u659c\u5854\u201d\u3002\u865a\u62df\u8c03\u8bd5\u6781\u5927\u964d\u4f4e\u4e86\u5b9e\u5730\u8c03\u8bd5\u7684\u98ce\u9669\u548c\u6210\u672c\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001 \u6700\u4f73\u5b9e\u8df5\u4e0e\u5c55\u671b<\/h2>\n\n\n\n<ol start=\"1\" class=\"wp-block-list\">\n<li><strong>\u53c2\u6570\u5316\u8bbe\u8ba1<\/strong>\uff1a\u5c06\u6240\u6709\u53ef\u80fd\u53d8\u5316\u7684\u91cf\uff08\u7269\u6599\u5c3a\u5bf8\u3001\u6258\u76d8\u884c\u5217\u6570\u3001\u5c42\u9ad8\u3001\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u7b49\uff09\u5b9a\u4e49\u4e3a\u7a0b\u5e8f\u5f00\u5934\u7684\u5e38\u91cf\u6216\u53ef\u4ece\u4eba\u673a\u754c\u9762\uff08HMI\uff09\u8bfb\u53d6\u7684\u53c2\u6570\uff0c\u6700\u5927\u5316\u7a0b\u5e8f\u7684\u9002\u5e94\u6027\u3002<\/li>\n\n\n\n<li><strong>\u9519\u8bef\u5904\u7406\u4e0e\u6062\u590d<\/strong>\uff1a\u5728\u5206\u5c42\u903b\u8f91\u4e2d\u5d4c\u5165\u5b8c\u5584\u7684\u9519\u8bef\u5904\u7406\u673a\u5236\uff0c\u5982\u89c6\u89c9\u5b9a\u4f4d\u5931\u8d25\u3001\u6293\u53d6\u5931\u8d25\u3001\u78b0\u649e\u68c0\u6d4b\u7b49\uff0c\u4f7f\u673a\u5668\u4eba\u80fd\u5b89\u5168\u6682\u505c\u6216\u6267\u884c\u6062\u590d\u6d41\u7a0b\uff0c\u4fdd\u969c\u7cfb\u7edf\u9c81\u68d2\u6027\u3002<\/li>\n\n\n\n<li><strong>\u4e0e\u89c6\u89c9\u7cfb\u7edf\u96c6\u6210<\/strong>\uff1a\u9635\u5217\u8ba1\u7b97\u6240\u9700\u7684\u57fa\u51c6\u70b9\uff0c\u53ef\u7531\u89c6\u89c9\u7cfb\u7edf\u52a8\u6001\u63d0\u4f9b\uff0c\u4ee5\u8865\u507f\u6258\u76d8\u6446\u653e\u3001\u6765\u6599\u4f4d\u7f6e\u7684\u4e0d\u786e\u5b9a\u6027\uff0c\u5b9e\u73b0\u771f\u6b63\u7684\u201c\u81ea\u9002\u5e94\u201d\u7801\u579b\u3002<\/li>\n\n\n\n<li><strong>\u5411\u6570\u5b57\u5b6a\u751f\u53d1\u5c55<\/strong>\uff1a\u672c\u6587\u6240\u8ff0\u7684\u57fa\u4e8eRobotStudio\u7684\u865a\u62df\u8c03\u8bd5\uff0c\u6b63\u662f\u6784\u5efa\u6570\u5b57\u5b6a\u751f\u7684\u521d\u6b65\u9636\u6bb5\u3002\u672a\u6765\uff0c\u901a\u8fc7\u4e0e\u7269\u8054\u7f51\uff08IoT\uff09\u5e73\u53f0\u8fde\u63a5\uff0c\u865a\u62df\u6a21\u578b\u53ef\u540c\u6b65\u6620\u5c04\u5b9e\u4f53\u673a\u5668\u7684\u72b6\u6001\uff0c\u5b9e\u73b0\u9884\u6d4b\u6027\u7ef4\u62a4\u3001\u5de5\u827a\u4f18\u5316\u548c\u8fdc\u7a0b\u4e13\u5bb6\u6307\u5bfc\u3002<\/li>\n<\/ol>\n\n\n\n<h2 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